engleski

Modeling and Simulation of In-pipe Inspection Robot Behavior through Pipeline Fittings

This research paper is an presentation of author's work to intensify the modeling and simulation of the pipeline inspection robot behavior during its movement through a pipeline including both kinematical and dynamical analysis, especially in the case of pipeline fittings: such as elbows, T- pieces, narrowing and widening points, as well as pipeline ascents and descents under various angles (where the pipeline follows the terrain). For this purpose, robotic architecture was proposed, based on which a CAD model was developed. Based on this, a robot behavior algorithm was developed, including its mechanical and control parts. The research was conducted out to establish to which extent the prefabricated robot architecture and, consequently, the adopted control system, meet the requirements defined for the robot’s motion through the pipeline. For that purpose, we used a combination of several programs: the 3D CAD program Solid Works, CAE program ADAMS and MATLAB Simulink program.

the pipeline inspection robot, robot architecture and behavior, CAD model, contact force control, co-simulation

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